Control Of Marine Vehicles

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Control of Marine Vehicles

Karl Dietrich von Ellenrieder
Control of Marine Vehicles Book PDF

Author : Karl Dietrich von Ellenrieder
Publisher : Unknown
Page : 0 pages
File Size : 48,8 Mb
Release : 2021
Category : Electronic
ISBN : 3030750221

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Control of Marine Vehicles by Karl Dietrich von Ellenrieder Pdf

This textbook offers a comprehensive introduction to the control of marine vehicles, from fundamental to advanced concepts, including robust control techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analysis and control of linear time invariant systems. The concepts discussed are developed progressively, providing a basis for understanding more complex techniques and stimulating readers' intuition. In addition, selected examples illustrating the main concepts, the corresponding MATLAB® code, and problems are included in each chapter. In turn, the second part of the book offers comprehensive coverage on the stability and control of nonlinear systems. Following the same intuitive approach, it guides readers from the fundamentals to more advanced techniques, which culminate in integrator backstepping, adaptive and sliding mode control. Leveraging the author's considerable teaching and research experience, the book offers a good balance of theory and stimulating questions. Not only does it provide a valuable resource for undergraduate and graduate students; it will also benefit practitioners who want to review the foundational concepts underpinning some of the latest advanced marine vehicle control techniques, for use in their own applications.

Control of Marine Vehicles

Karl Dietrich von Ellenrieder
Control of Marine Vehicles Book PDF

Author : Karl Dietrich von Ellenrieder
Publisher : Springer Nature
Page : 540 pages
File Size : 54,9 Mb
Release : 2021-06-21
Category : Technology & Engineering
ISBN : 9783030750213

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Control of Marine Vehicles by Karl Dietrich von Ellenrieder Pdf

This textbook offers a comprehensive introduction to the control of marine vehicles, from fundamental to advanced concepts, including robust control techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analysis and control of linear time invariant systems. The concepts discussed are developed progressively, providing a basis for understanding more complex techniques and stimulating readers’ intuition. In addition, selected examples illustrating the main concepts, the corresponding MATLAB® code, and problems are included in each chapter. In turn, the second part of the book offers comprehensive coverage on the stability and control of nonlinear systems. Following the same intuitive approach, it guides readers from the fundamentals to more advanced techniques, which culminate in integrator backstepping, adaptive and sliding mode control. Leveraging the author’s considerable teaching and research experience, the book offers a good balance of theory and stimulating questions. Not only does it provide a valuable resource for undergraduate and graduate students; it will also benefit practitioners who want to review the foundational concepts underpinning some of the latest advanced marine vehicle control techniques, for use in their own applications.

Guidance and Control of Ocean Vehicles

Thor I. Fossen
Guidance and Control of Ocean Vehicles Book PDF

Author : Thor I. Fossen
Publisher : John Wiley & Sons
Page : 504 pages
File Size : 44,7 Mb
Release : 1994-09-20
Category : Sports & Recreation
ISBN : UOM:39015058321566

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Guidance and Control of Ocean Vehicles by Thor I. Fossen Pdf

A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.

Navigation and Control of Autonomous Marine Vehicles

Sanjay Sharma,Bidyadhar Subudhi
Navigation and Control of Autonomous Marine Vehicles Book PDF

Author : Sanjay Sharma,Bidyadhar Subudhi
Publisher : Institution of Engineering and Technology
Page : 348 pages
File Size : 46,7 Mb
Release : 2019-06-26
Category : Technology & Engineering
ISBN : 9781785613388

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Navigation and Control of Autonomous Marine Vehicles by Sanjay Sharma,Bidyadhar Subudhi Pdf

Robotic marine vessels can be used for a wide range of purposes, including defence, marine science, offshore energy and hydrographic surveys, and environmental surveys and protection. Such vessels need to meet a variety of criteria: they must be able to operate in salt water, and to communicate and be controlled over large distances, even when submerged or in inclement weather. Further challenges include 3D navigation of individual vehicles, groups or squadrons. This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications. It provides valuable insights for an audience of researchers, academics and postgraduate students interested in autonomous marine vessels, robotics, and electrical and automobile engineering.

Control of Ships and Underwater Vehicles

Khac Duc Do,Jie Pan
Control of Ships and Underwater Vehicles Book PDF

Author : Khac Duc Do,Jie Pan
Publisher : Springer Science & Business Media
Page : 402 pages
File Size : 53,5 Mb
Release : 2009-08-09
Category : Technology & Engineering
ISBN : 9781848827301

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Control of Ships and Underwater Vehicles by Khac Duc Do,Jie Pan Pdf

Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors’ systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.

Advances in Unmanned Marine Vehicles

G.N. Roberts,R. Sutton
Advances in Unmanned Marine Vehicles Book PDF

Author : G.N. Roberts,R. Sutton
Publisher : IET
Page : 461 pages
File Size : 53,6 Mb
Release : 2006-01-31
Category : Technology & Engineering
ISBN : 9780863414503

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Advances in Unmanned Marine Vehicles by G.N. Roberts,R. Sutton Pdf

Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.

Sensing and Control for Autonomous Vehicles

Thor I. Fossen,Kristin Y. Pettersen,Henk Nijmeijer
Sensing and Control for Autonomous Vehicles Book PDF

Author : Thor I. Fossen,Kristin Y. Pettersen,Henk Nijmeijer
Publisher : Springer
Page : 518 pages
File Size : 55,7 Mb
Release : 2017-05-26
Category : Technology & Engineering
ISBN : 9783319553726

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Sensing and Control for Autonomous Vehicles by Thor I. Fossen,Kristin Y. Pettersen,Henk Nijmeijer Pdf

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.

Handbook of Marine Craft Hydrodynamics and Motion Control

Thor I. Fossen
Handbook of Marine Craft Hydrodynamics and Motion Control Book PDF

Author : Thor I. Fossen
Publisher : John Wiley & Sons
Page : 96 pages
File Size : 46,9 Mb
Release : 2021-04-16
Category : Science
ISBN : 9781119575030

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Handbook of Marine Craft Hydrodynamics and Motion Control by Thor I. Fossen Pdf

Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz

Network-Based Control of Unmanned Marine Vehicles

Yu-Long Wang,Qing-Long Han,Chen Peng,Lang Ma
Network Based Control of Unmanned Marine Vehicles Book PDF

Author : Yu-Long Wang,Qing-Long Han,Chen Peng,Lang Ma
Publisher : Springer Nature
Page : 212 pages
File Size : 48,6 Mb
Release : 2023-05-02
Category : Technology & Engineering
ISBN : 9783031286056

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Network-Based Control of Unmanned Marine Vehicles by Yu-Long Wang,Qing-Long Han,Chen Peng,Lang Ma Pdf

This book presents a comprehensive analysis of stability, stabilization, and fault detection in networked control systems, with a focus on unmanned marine vehicles. It investigates the challenges of network-based control in areas like heading control, fault detection filter and controller design, dynamic positioning, and cooperative target tracking. Communication networks in control systems can induce delays and dropouts, so the book presents the importance of stability analysis, stabilize, and fault detection. To help readers gain a deeper understanding of these concepts, the book provides fundamental concepts and real-world examples. This book is a valuable resource for researchers and practitioners working in the field of network-based control for unmanned marine vehicles.

Navigation and Control of Autonomous Marine Vehicles

Sanjay Sharma (Associate professor in intelligent autonomous control systems),Bidyadhar Subudhi
Navigation and Control of Autonomous Marine Vehicles Book PDF

Author : Sanjay Sharma (Associate professor in intelligent autonomous control systems),Bidyadhar Subudhi
Publisher : Unknown
Page : 348 pages
File Size : 42,9 Mb
Release : 2019
Category : Mobile robots
ISBN : 1523124369

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Navigation and Control of Autonomous Marine Vehicles by Sanjay Sharma (Associate professor in intelligent autonomous control systems),Bidyadhar Subudhi Pdf

This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications.

Stability and Motion Control of Ocean Vehicles

Martin A. Abkowitz
Stability and Motion Control of Ocean Vehicles Book PDF

Author : Martin A. Abkowitz
Publisher : MIT Press (MA)
Page : 388 pages
File Size : 49,8 Mb
Release : 1969
Category : Ships
ISBN : UCSD:31822020658951

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Stability and Motion Control of Ocean Vehicles by Martin A. Abkowitz Pdf

On the basis of subject material covered in this work, ocean engineers will be in a position to understand and apply the hydrodynamic principles involved in designing vehicles and systems, determine how vehicles or systems respond to the environment, and also evaluate whether such vehicles can be expected to operate properly in the environment.

Further Advances in Unmanned Marine Vehicles

G.N. Roberts,R. Sutton
Further Advances in Unmanned Marine Vehicles Book PDF

Author : G.N. Roberts,R. Sutton
Publisher : IET
Page : 442 pages
File Size : 48,7 Mb
Release : 2012-07-30
Category : Technology & Engineering
ISBN : 9781849194792

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Further Advances in Unmanned Marine Vehicles by G.N. Roberts,R. Sutton Pdf

Unmanned marine vehicles (UMVs) is a collective term which can be used to describe autonomous underwater vehicles, remotely operated vehicles, semisubmersibles, and unmanned surface craft. These days there is considerable interest being shown in UMVs by the military, civilian and scientific communities for undertaking designated missions whilst either operating autonomously and/or in cooperation with other types of vehicle. More and more worldwide importance is also being placed on the design and development of such vehicles as they are capable of providing cost effective solutions to a number of littoral, coastal and offshore problems. This new book on the subject will cover topics including Navigation guidance and control of the following unmanned marine vehicles: remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs), ncluding gliders, autonomous surface vehicles (ASVs).

Hydrodynamics of High-Speed Marine Vehicles

Odd M. Faltinsen
Hydrodynamics of High Speed Marine Vehicles Book PDF

Author : Odd M. Faltinsen
Publisher : Cambridge University Press
Page : 128 pages
File Size : 41,5 Mb
Release : 2006-01-09
Category : Technology & Engineering
ISBN : 9781139447935

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Hydrodynamics of High-Speed Marine Vehicles by Odd M. Faltinsen Pdf

Hydrodynamics of High-Speed Marine Vehicles, first published in 2006, discusses the three main categories of high-speed marine vehicles - vessels supported by submerged hulls, air cushions or foils. The wave environment, resistance, propulsion, seakeeping, sea loads and manoeuvring are extensively covered based on rational and simplified methods. Links to automatic control and structural mechanics are emphasized. A detailed description of waterjet propulsion is given and the effect of water depth on wash, resistance, sinkage and trim is discussed. Chapter topics include resistance and wash; slamming; air cushion-supported vessels, including a detailed discussion of wave-excited resonant oscillations in air cushion; and hydrofoil vessels. The book contains numerous illustrations, examples and exercises.

Handbook of Marine Craft Hydrodynamics and Motion Control

Thor I. Fossen
Handbook of Marine Craft Hydrodynamics and Motion Control Book PDF

Author : Thor I. Fossen
Publisher : John Wiley & Sons
Page : 596 pages
File Size : 49,8 Mb
Release : 2011-05-23
Category : Science
ISBN : 9781119991496

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Handbook of Marine Craft Hydrodynamics and Motion Control by Thor I. Fossen Pdf

The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed. Key features include: a three-part structure covering Modeling of Marine Craft; Guidance, Navigation and Control Systems; and Appendices, providing all the supporting theory in a single resource kinematics, kinetics, hydrostatics, seakeeping and maneuvering theory, and simulation models for marine craft and environmental forces guidance systems, sensor fusion and integrated navigation systems, inertial measurement units, Kalman filtering and nonlinear observer design for marine craft state-of-the-art methods for feedback control more advanced methods using nonlinear theory, enabling the user to compare linear design techniques before a final implementation is made. linear and nonlinear stability theory, and numerical methods companion website that hosts links to lecture notes and download information for the Marine Systems Simulator (MSS) which is an open source Matlab/Simulink® toolbox for marine systems. The MSS toolbox includes hydrodynamic models and motion control systems for ships, underwater vehicles and floating structures With an appropriate balance between mathematical theory and practical applications, academic and industrial researchers working in marine and control engineering aspects of manned and unmanned maritime vehicles will benefit from this comprehensive handbook. It is also suitable for final year undergraduates and postgraduates, lecturers, development officers, and practitioners in the areas of rigid-body modeling, hydrodynamics, simulation of marine craft, control and estimation theory, decision-support systems and sensor fusion. www.wiley.com/go/fossen_marine

Advanced Model Predictive Control for Autonomous Marine Vehicles

Yang Shi,Chao Shen,Henglai Wei,Kunwu Zhang
Advanced Model Predictive Control for Autonomous Marine Vehicles Book PDF

Author : Yang Shi,Chao Shen,Henglai Wei,Kunwu Zhang
Publisher : Springer Nature
Page : 210 pages
File Size : 42,9 Mb
Release : 2023-02-13
Category : Technology & Engineering
ISBN : 9783031193545

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Advanced Model Predictive Control for Autonomous Marine Vehicles by Yang Shi,Chao Shen,Henglai Wei,Kunwu Zhang Pdf

This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.